Ins alignment method using a doppler sensor and a GPS/HVINS
First Claim
1. A transfer alignment system for aligning an inertial navigation system of a slave vehicle comprising:
- an inertial navigation system installed in the slave vehicle and providing the position, velocity and attitude of the slave vehicle;
a Doppler velocity sensor installed in the slave vehicle and providing the velocity of the slave vehicle with respect to a coordinate system fixed to the body of the slave vehicle;
one of an inertial navigation system and an integrated global positioning system/inertial navigation system installed in an aircraft carrying the slave vehicle and providing the position, velocity and attitude of the aircraft; and
a transfer alignment filter updated by a velocity measurement of the Doppler velocity sensor and at least one of the velocity and the position of a host aircraft navigation system.
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Accused Products
Abstract
Transfer/in-flight alignment technique using a Doppler velocity sensor. An aircraft navigation system (10 and/or 20), a Doppler velocity sensor (50) and an alignment filter (45) are used to align the inertial navigation system (4) of a slave vehicle. The velocity (and/or position) of the aircraft navigation system, the velocity (and/or position) of the slave vehicle'"'"'s inertial navigation system (40) and the velocity measurement of a Doppler velocity sensor (50) are used to generate the measurements of the alignment filter (45). The DVS and aircraft navigation system are used simultaneously to align the inertial navigation system of the slave vehicle. A GPS receiver (60) with a GPS antenna (70), a Doppler velocity sensor (50) and an alignment filer (46) are used to align the inertial navigation system (40) of a flight vehicle. The velocity (and/or position) of a GPS receiver (60), the velocity (and/or position) of the inertial navigation system (40) of a flight vehicle and the velocity measurement of a Doppler velocity sensor (50) are used to generate the measurements of the in-flight alignment filter (46).
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Citations
17 Claims
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1. A transfer alignment system for aligning an inertial navigation system of a slave vehicle comprising:
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an inertial navigation system installed in the slave vehicle and providing the position, velocity and attitude of the slave vehicle; a Doppler velocity sensor installed in the slave vehicle and providing the velocity of the slave vehicle with respect to a coordinate system fixed to the body of the slave vehicle; one of an inertial navigation system and an integrated global positioning system/inertial navigation system installed in an aircraft carrying the slave vehicle and providing the position, velocity and attitude of the aircraft; and a transfer alignment filter updated by a velocity measurement of the Doppler velocity sensor and at least one of the velocity and the position of a host aircraft navigation system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An in-flight alignment system for aligning an inertial navigation system of a flight vehicle such as an aircraft or a missile or a guided bomb or an unmanned air vehicle, said system comprising
an inertial navigation system installed in a flight vehicle and providing the position, velocity and attitude of the flight vehicle; -
a Doppler velocity sensor installed in the flight vehicle and providing the velocity of the flight vehicle with respect to a coordinate system fixed to a body of the flight vehicle; a global position system receiver installed in the flight vehicle, and providing velocity and position of the flight vehicle with respect to a navigation coordinate system; a global positioning system antenna mounted on the flight vehicle and providing a global positioning system signal to the global positioning system receiver; an in-flight alignment filter updated by the velocity measurement of the Doppler velocity sensor, and at least one of the velocity and the position of the global positioning system. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A transfer alignment system for aligning an inertial navigation system of a slave vehicle comprising:
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an inertial navigation system installed in the slave vehicle; a Doppler velocity sensor installed in the slave vehicle and providing the velocity of the slave vehicle with respect to a coordinate system fixed to the body of the slave vehicle; one of an inertial navigation system and an integrated global positioning system/inertial navigation system installed in an aircraft carrying the slave vehicle; and a transfer alignment filter updated by a velocity measurement of the Doppler velocity sensor.
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Specification